DocumentCode
488143
Title
Translational and Rotational Manipulability of Robotic Manipulators
Author
Yoshikawa, Tsuneo
Author_Institution
Division of Applied Systems Science, Faculty of Engineering, Kyoto University, Uji, Kyoto 611, Japan
fYear
1990
fDate
23-25 May 1990
Firstpage
228
Lastpage
233
Abstract
Based on the idea of separating the total manipulability measure into translational and rotational manipulability measures, several results that are useful for analyzing robotic mechanisms from the viewpoint of manipulability measure are presented.
Keywords
Design engineering; Ellipsoids; End effectors; Manipulators; Matrix decomposition; Performance analysis; Robots; Rotation measurement; Size measurement; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1990
Conference_Location
San Diego, CA, USA
Type
conf
Filename
4790733
Link To Document